Rovers secured promotion from the Conference after beating Grimsby on penalties in the play-off final and will announce their return at the Memorial Stadium after the fixture lists were revealed.
The Pirates will take on Northampton on August 8, and Clarke is looking forward to kicking off the campaign on home soil.
“It’s always good to begin the season with a home game and the fact that we are once again a Football League club should ensure there will be a big crowd at the Mem to see our return to League Two action,” he told the club’s official website.
“They [Northampton Town] will provide us with a tough test but we will be looking to start the season with three points.
“We only lost two games at home last season and we need to build on that for this upcoming season.”